Creating through points in linear function with parabolic blends path by optimization method
Other Title(s)
خلق نقاط بينية في الدالة الخطية المندمجة مع مسار القطع المكافئ بطريقة تحقيق الأمثلية
Author
Source
al-Khwarizmi Engineering Journal
Issue
Vol. 14, Issue 1 (31 Mar. 2018), pp.77-89, 13 p.
Publisher
University of Baghdad al-Khwarizmi College of Engineering
Publication Date
2018-03-31
Country of Publication
Iraq
No. of Pages
13
Main Subjects
Abstract EN
The linear segment with parabolic blend (LSPB) trajectory deviates from the specified waypoints.
It is restricted to that the acceleration must be sufficiently high.
In this work, it is proposed to engage modified LSPB trajectory with particle swarm optimization (PSO) so as to create through points on the trajectory.
The assumption of normal LSPB method that parabolic part is centered in time around waypoints is replaced by proposed coefficients for calculating the time duration of the linear part.
These coefficients are functions of velocities between through points.
The velocities are obtained by PSO so as to force the LSPB trajectory passing exactly through the specified path points.
Also, relations for velocity correction and exact velocity solution are derived.
Simulation results show that the engagement of modified LSPB trajectory with PSO to work well on the tested cases.
This proposed method is very simple which can be used for on-line path planning, and not necessarily to use high acceleration magnitude.
American Psychological Association (APA)
al-Khayyat, Sad Zaghlul Said. 2018. Creating through points in linear function with parabolic blends path by optimization method. al-Khwarizmi Engineering Journal،Vol. 14, no. 1, pp.77-89.
https://search.emarefa.net/detail/BIM-831994
Modern Language Association (MLA)
al-Khayyat, Sad Zaghlul Said. Creating through points in linear function with parabolic blends path by optimization method. al-Khwarizmi Engineering Journal Vol. 14, no. 1 (Mar. 2018), pp.77-89.
https://search.emarefa.net/detail/BIM-831994
American Medical Association (AMA)
al-Khayyat, Sad Zaghlul Said. Creating through points in linear function with parabolic blends path by optimization method. al-Khwarizmi Engineering Journal. 2018. Vol. 14, no. 1, pp.77-89.
https://search.emarefa.net/detail/BIM-831994
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references : p.86-88
Record ID
BIM-831994